Design

• Linear actuator ↔ EZ Drive (controller) ↔ mbed (uc) ↔ Network (RPC HTTP SERVER) ↔ ROS Service

• Http Addr. = 192.168.4.239

How to control the refrigerator's door (method 1)

1.Power on the refrigerator.

2.Run the tms_rs_refrigerator node

rosrun tms_rs_refrigerator rs_refrigerator.py

3.Control the refrigerator's door using ROS service call named "refrigerator_controller".

• tms_msg_rs/rs_home_appliances.srv

int32 id         // Refrigerator ID: 2009
int32 service    // 0: Close, 1: Open
---
int32 result     // 0: failure, 1: Success

How to control the refrigerator's door (method 2)

1.Open the web browser in PC or smartphone.

2.Input the Addr. "http://192.168.4.239/autodoor.htm".

3.Click the button.

images/autodoor.png images/autodoor1.png

• IP address on picture is no longer used.